KR 10 scara R600, R850 WP - KUKA Robotics

4. Planning4 Planning4.1 Mounting baseDescriptionThe robot is fastened to the mounting base with 4 bolts. A suitable steel constructioncan be used as the mounting base. The mounting surface must be atleast 20 mm thick. It must be ensured that the steel structure is able to withstandsafely and permanently the dynamic loads (>>> 2.4 "Loads acting onthe mounting base" page 15) to which it is subjected.In order to fasten the robot to a concrete foundation, a suitable steel plate mustbe prepared and fastened to the concrete foundation.The connecting cables to the robot controller must be installed in a cable duct.If required, additional measures must be taken to ensure electromagneticcompatibility (EMC).Caution!Installation, connection and start-up of the robot must be carried out in accordancewith the applicable national laws and regulations.The robot may only be started up if the applicable regulations have been observed.Hole patternThe following holes must be used for mounting the robot.Fig. 4-1: Hole pattern for KR 10 scara4.2 Instructions for mechanical axis range limitationDescriptionThe robot’s working envelope can be reduced to the required minimum in axes1 to 3 using mechanical axis range limitation systems.Warning!If the mechanical axis range limits are changed, the robot could collide withits end stops, resulting in damage to the robot and its tooling. The softwarelimit switches must be set to a position at least 2 to 3° in front of the axis rangelimits.In order to be able to use the mechanical axis range limitations, it is necessaryto construct it. Instructions are supplied.Issued: 26.03.2010 Version: Spez KR 10 scara WP V5 en39 / 57